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<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html">FCLCollisionChecker</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">collision::FCLCollisionChecker Class Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="fcl__collision__checker_8h_source.html">fcl_collision_checker.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a16ec2197db9749ff6a3b5e051de49d04"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a16ec2197db9749ff6a3b5e051de49d04">FCLCollisionChecker</a> (<a class="el" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;cc)</td></tr>
<tr class="separator:a16ec2197db9749ff6a3b5e051de49d04"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0bbef6be78e1f637118dacf22065c0e3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a0bbef6be78e1f637118dacf22065c0e3">addCollisionObject</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co)</td></tr>
<tr class="separator:a0bbef6be78e1f637118dacf22065c0e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4a4fd307c8ba0ea3a82d533ed172f11f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a4a4fd307c8ba0ea3a82d533ed172f11f">windowQuery_helper</a> (const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb, <a class="el" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;ret) const</td></tr>
<tr class="separator:a4a4fd307c8ba0ea3a82d533ed172f11f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2342cb7b3355fda227da065d62c93d7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#ac2342cb7b3355fda227da065d62c93d7">collideHelper</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, int *collision_time, std::vector&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt; *obstacles, int max_obstacles=-1, bool ungroup_shape_groups=false, bool ungroup_TV_obstacles=false) const</td></tr>
<tr class="separator:ac2342cb7b3355fda227da065d62c93d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Protected Types</h2></td></tr>
<tr class="memitem:a7b130de16d61c3dd7e288bd4453e53be"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a> { <a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53bea86297849b8a7f354faa0b0c2a1e9b4e0">collisionRequestBoolean</a> =0, 
<a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53bead357fe77094466a5b147f35db00c71e2">collisionRequestListOfObstacles</a> =1, 
<a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53beacd732abede1dc377d5479943511722d8">collisionRequestWindowQuery</a> =2
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Protected Member Functions</h2></td></tr>
<tr class="memitem:a58e3f2a818956f4d6d85910a4e0ff0ff"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a58e3f2a818956f4d6d85910a4e0ff0ff">invalidateParentMap</a> (void)</td></tr>
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<tr class="memitem:a701a9bd896c7e87250684b2ee3839496"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a701a9bd896c7e87250684b2ee3839496">setUpParentMap</a> (void) const</td></tr>
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<tr class="memitem:a8751ea0a1dccb2b344f2f0291008b843"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a8751ea0a1dccb2b344f2f0291008b843">invalidateStaticObstaclesManager</a> (void)</td></tr>
<tr class="separator:a8751ea0a1dccb2b344f2f0291008b843"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeab84476f1fa2ecaef9b92739096ca5c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#aeab84476f1fa2ecaef9b92739096ca5c">setUpStaticObstaclesManager</a> (void) const</td></tr>
<tr class="separator:aeab84476f1fa2ecaef9b92739096ca5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37575984d607b68939dbd784dc4b7a42"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a37575984d607b68939dbd784dc4b7a42">set_up_dynamic_obstacles</a> (int simulation_cur_time_idx_) const</td></tr>
<tr class="separator:a37575984d607b68939dbd784dc4b7a42"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7a7fd195f0a9f04c5b521e4b5019211"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#af7a7fd195f0a9f04c5b521e4b5019211">register_dynamic_obstacle</a> (const <a class="el" href="classcollision_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *obj) const</td></tr>
<tr class="separator:af7a7fd195f0a9f04c5b521e4b5019211"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f89bea27dfa51cdb4e7b9f14e6cfe09"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a3f89bea27dfa51cdb4e7b9f14e6cfe09">register_dynamic_obstacle</a> (const <a class="el" href="classcollision_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *obj) const</td></tr>
<tr class="separator:a3f89bea27dfa51cdb4e7b9f14e6cfe09"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a78c6bcdda206016672f6cff46216a031"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a78c6bcdda206016672f6cff46216a031">addCollisionObject_fcl</a> (const <a class="el" href="classcollision_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *co)</td></tr>
<tr class="separator:a78c6bcdda206016672f6cff46216a031"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a986c343e39ccbd673fb2bbd0a5a7f0c2"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a986c343e39ccbd673fb2bbd0a5a7f0c2">addCollisionObject_fcl</a> (const <a class="el" href="classcollision_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *co)</td></tr>
<tr class="separator:a986c343e39ccbd673fb2bbd0a5a7f0c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0f40ced159a02135df58bba25d5f3c67"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a0f40ced159a02135df58bba25d5f3c67">addCollisionObject_fcl</a> (const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj)</td></tr>
<tr class="separator:a0f40ced159a02135df58bba25d5f3c67"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac80c7de2a6f435f8800fc0af65400ed4"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#ac80c7de2a6f435f8800fc0af65400ed4">collide_fcl</a> (const <a class="el" href="classcollision_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *col_obj_ptr, int &amp;time_of_collision, <a class="el" href="classcollision_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData) const</td></tr>
<tr class="separator:ac80c7de2a6f435f8800fc0af65400ed4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3506c86135e9ec7f2a06b6f4dbd61e03"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a3506c86135e9ec7f2a06b6f4dbd61e03">collide_fcl</a> (const <a class="el" href="classcollision_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *col_obj_group, int &amp;time_of_collision, <a class="el" href="classcollision_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData) const</td></tr>
<tr class="separator:a3506c86135e9ec7f2a06b6f4dbd61e03"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad82e2f69b55e19c9dfa446febccfb2c1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#ad82e2f69b55e19c9dfa446febccfb2c1">collide_fcl</a> (const <a class="el" href="classcollision_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *, int &amp;time_of_collision) const</td></tr>
<tr class="separator:ad82e2f69b55e19c9dfa446febccfb2c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ed062511ae34958e42ae92798caa2cc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a5ed062511ae34958e42ae92798caa2cc">collide_fcl</a> (const <a class="el" href="classcollision_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *col_obj_ptr, int &amp;time_of_collision) const</td></tr>
<tr class="separator:a5ed062511ae34958e42ae92798caa2cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a503b68e5adea8818e4019d068e913696"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a503b68e5adea8818e4019d068e913696">collide_fcl</a> (const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj, int &amp;time_of_collision) const</td></tr>
<tr class="separator:a503b68e5adea8818e4019d068e913696"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae2f366d225bf69ca7f651865985c1891"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#ae2f366d225bf69ca7f651865985c1891">collide_fcl</a> (const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj, int &amp;time_of_collision, <a class="el" href="classcollision_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData) const</td></tr>
<tr class="separator:ae2f366d225bf69ca7f651865985c1891"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a081400d7f7d8d3a1f818a93992ff6c5c"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a081400d7f7d8d3a1f818a93992ff6c5c"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a081400d7f7d8d3a1f818a93992ff6c5c">collide_fcl_helper_simulate_static_subject</a> (T col_entity, int &amp;time_of_collision, <a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a> reqType=<a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53bea86297849b8a7f354faa0b0c2a1e9b4e0">collisionRequestBoolean</a>, <a class="el" href="classcollision_1_1_collision_request_data.html">CollisionRequestData</a> *reqData=0) const</td></tr>
<tr class="separator:a081400d7f7d8d3a1f818a93992ff6c5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a706584a1db5809e07c8ba9319c7c5251"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a706584a1db5809e07c8ba9319c7c5251">collide_fcl_helper_sim_TV_subject</a> (const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> &amp;tvobj, int &amp;time_of_collision, <a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a> reqType, <a class="el" href="classcollision_1_1_collision_request_data.html">CollisionRequestData</a> *reqData) const</td></tr>
<tr class="separator:a706584a1db5809e07c8ba9319c7c5251"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb0c93712690967b6328379f2e634cb6"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:aeb0c93712690967b6328379f2e634cb6"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#aeb0c93712690967b6328379f2e634cb6">collide_fcl_helper_dynamic_obstaclesEx</a> (T col_entity, int sim_cur_time_idx, bool &amp;result, <a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a> reqType, <a class="el" href="classcollision_1_1_collision_request_data.html">CollisionRequestData</a> *reqData) const</td></tr>
<tr class="separator:aeb0c93712690967b6328379f2e634cb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa31349f259815c6066b8200535462eba"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:aa31349f259815c6066b8200535462eba"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#aa31349f259815c6066b8200535462eba">collide_fcl_helper_dynamic_obstacles</a> (T col_entity, int sim_cur_time_idx) const</td></tr>
<tr class="separator:aa31349f259815c6066b8200535462eba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41267355a145d825794fba3f4adad114"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a41267355a145d825794fba3f4adad114"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a41267355a145d825794fba3f4adad114">collide_fcl_helper_static_obstaclesEx</a> (T col_entity, bool &amp;result, <a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a> reqType, <a class="el" href="classcollision_1_1_collision_request_data.html">CollisionRequestData</a> *reqData) const</td></tr>
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<tr class="memitem:a756426c585004fc206b78f8a15c8b57e"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a756426c585004fc206b78f8a15c8b57e"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a756426c585004fc206b78f8a15c8b57e">collide_fcl_helper_static_obstacles</a> (T col_entity) const</td></tr>
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Protected Attributes</h2></td></tr>
<tr class="memitem:aa1181477c1a6c7deb9996db37d4f818b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#aa1181477c1a6c7deb9996db37d4f818b">m_cc</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8h_source.html#l00034">34</a> of file <a class="el" href="fcl__collision__checker_8h_source.html">fcl_collision_checker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7b130de16d61c3dd7e288bd4453e53be">&#9670;&nbsp;</a></span>CollisionRequestType</h2>

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          <td class="memname">enum <a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">collision::FCLCollisionChecker::CollisionRequestType</a></td>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a7b130de16d61c3dd7e288bd4453e53bea86297849b8a7f354faa0b0c2a1e9b4e0"></a>collisionRequestBoolean&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a7b130de16d61c3dd7e288bd4453e53bead357fe77094466a5b147f35db00c71e2"></a>collisionRequestListOfObstacles&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a7b130de16d61c3dd7e288bd4453e53beacd732abede1dc377d5479943511722d8"></a>collisionRequestWindowQuery&#160;</td><td class="fielddoc"></td></tr>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8h_source.html#l00050">50</a> of file <a class="el" href="fcl__collision__checker_8h_source.html">fcl_collision_checker.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a16ec2197db9749ff6a3b5e051de49d04">&#9670;&nbsp;</a></span>FCLCollisionChecker()</h2>

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          <td class="memname">collision::FCLCollisionChecker::FCLCollisionChecker </td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00015">15</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0bbef6be78e1f637118dacf22065c0e3">&#9670;&nbsp;</a></span>addCollisionObject()</h2>

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          <td class="memname">void collision::FCLCollisionChecker::addCollisionObject </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
          <td class="paramname"><em>co</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00046">46</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a78c6bcdda206016672f6cff46216a031">&#9670;&nbsp;</a></span>addCollisionObject_fcl() <span class="overload">[1/3]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *&#160;</td>
          <td class="paramname"><em>co</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00097">97</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a986c343e39ccbd673fb2bbd0a5a7f0c2">&#9670;&nbsp;</a></span>addCollisionObject_fcl() <span class="overload">[2/3]</span></h2>

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          <td class="memname">int collision::FCLCollisionChecker::addCollisionObject_fcl </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *&#160;</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00085">85</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0f40ced159a02135df58bba25d5f3c67">&#9670;&nbsp;</a></span>addCollisionObject_fcl() <span class="overload">[3/3]</span></h2>

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          <td class="memname">void collision::FCLCollisionChecker::addCollisionObject_fcl </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *&#160;</td>
          <td class="paramname"><em>tvobj</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00106">106</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac80c7de2a6f435f8800fc0af65400ed4">&#9670;&nbsp;</a></span>collide_fcl() <span class="overload">[1/6]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *&#160;</td>
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          <td class="paramtype"><a class="el" href="classcollision_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;&#160;</td>
          <td class="paramname"><em>reqData</em>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00331">331</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3506c86135e9ec7f2a06b6f4dbd61e03">&#9670;&nbsp;</a></span>collide_fcl() <span class="overload">[2/6]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *&#160;</td>
          <td class="paramname"><em>col_obj_group</em>, </td>
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          <td class="paramtype"><a class="el" href="classcollision_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;&#160;</td>
          <td class="paramname"><em>reqData</em>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00337">337</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad82e2f69b55e19c9dfa446febccfb2c1">&#9670;&nbsp;</a></span>collide_fcl() <span class="overload">[3/6]</span></h2>

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          <td class="paramtype">const <a class="el" href="classcollision_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *&#160;</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00352">352</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a5ed062511ae34958e42ae92798caa2cc">&#9670;&nbsp;</a></span>collide_fcl() <span class="overload">[4/6]</span></h2>

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          <td class="paramtype">const <a class="el" href="classcollision_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *&#160;</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00345">345</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a503b68e5adea8818e4019d068e913696">&#9670;&nbsp;</a></span>collide_fcl() <span class="overload">[5/6]</span></h2>

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          <td class="paramtype">const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *&#160;</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00359">359</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae2f366d225bf69ca7f651865985c1891">&#9670;&nbsp;</a></span>collide_fcl() <span class="overload">[6/6]</span></h2>

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          <td class="paramtype">const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *&#160;</td>
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          <td class="paramtype"><a class="el" href="classcollision_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;&#160;</td>
          <td class="paramname"><em>reqData</em>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00366">366</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa31349f259815c6066b8200535462eba">&#9670;&nbsp;</a></span>collide_fcl_helper_dynamic_obstacles()</h2>

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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00602">602</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aeb0c93712690967b6328379f2e634cb6">&#9670;&nbsp;</a></span>collide_fcl_helper_dynamic_obstaclesEx()</h2>

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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>sim_cur_time_idx</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool &amp;&#160;</td>
          <td class="paramname"><em>result</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a>&#160;</td>
          <td class="paramname"><em>reqType</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_collision_request_data.html">CollisionRequestData</a> *&#160;</td>
          <td class="paramname"><em>reqData</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00554">554</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a706584a1db5809e07c8ba9319c7c5251">&#9670;&nbsp;</a></span>collide_fcl_helper_sim_TV_subject()</h2>

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          <td class="memname">bool collision::FCLCollisionChecker::collide_fcl_helper_sim_TV_subject </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> &amp;&#160;</td>
          <td class="paramname"><em>tvobj</em>, </td>
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          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>time_of_collision</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a>&#160;</td>
          <td class="paramname"><em>reqType</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_collision_request_data.html">CollisionRequestData</a> *&#160;</td>
          <td class="paramname"><em>reqData</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00373">373</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a081400d7f7d8d3a1f818a93992ff6c5c">&#9670;&nbsp;</a></span>collide_fcl_helper_simulate_static_subject()</h2>

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          <td class="memname">template bool collision::FCLCollisionChecker::collide_fcl_helper_simulate_static_subject </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>col_entity</em>, </td>
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          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>time_of_collision</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a>&#160;</td>
          <td class="paramname"><em>reqType</em> = <code><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53bea86297849b8a7f354faa0b0c2a1e9b4e0">collisionRequestBoolean</a></code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_collision_request_data.html">CollisionRequestData</a> *&#160;</td>
          <td class="paramname"><em>reqData</em> = <code>0</code>&#160;</td>
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          <td></td><td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00504">504</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a756426c585004fc206b78f8a15c8b57e">&#9670;&nbsp;</a></span>collide_fcl_helper_static_obstacles()</h2>

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          <td class="memname">bool collision::FCLCollisionChecker::collide_fcl_helper_static_obstacles </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>col_entity</em></td><td>)</td>
          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00660">660</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a41267355a145d825794fba3f4adad114">&#9670;&nbsp;</a></span>collide_fcl_helper_static_obstaclesEx()</h2>

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          <td class="memname">bool collision::FCLCollisionChecker::collide_fcl_helper_static_obstaclesEx </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>col_entity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool &amp;&#160;</td>
          <td class="paramname"><em>result</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_f_c_l_collision_checker.html#a7b130de16d61c3dd7e288bd4453e53be">CollisionRequestType</a>&#160;</td>
          <td class="paramname"><em>reqType</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_collision_request_data.html">CollisionRequestData</a> *&#160;</td>
          <td class="paramname"><em>reqData</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00617">617</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac2342cb7b3355fda227da065d62c93d7">&#9670;&nbsp;</a></span>collideHelper()</h2>

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          <td class="memname">bool collision::FCLCollisionChecker::collideHelper </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
          <td class="paramname"><em>co</em>, </td>
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          <td></td>
          <td class="paramtype">int *&#160;</td>
          <td class="paramname"><em>collision_time</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt; *&#160;</td>
          <td class="paramname"><em>obstacles</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>max_obstacles</em> = <code>-1</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>ungroup_shape_groups</em> = <code>false</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>ungroup_TV_obstacles</em> = <code>false</code>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00195">195</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a58e3f2a818956f4d6d85910a4e0ff0ff">&#9670;&nbsp;</a></span>invalidateParentMap()</h2>

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          <td class="memname">void collision::FCLCollisionChecker::invalidateParentMap </td>
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          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00024">24</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8751ea0a1dccb2b344f2f0291008b843">&#9670;&nbsp;</a></span>invalidateStaticObstaclesManager()</h2>

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          <td class="memname">void collision::FCLCollisionChecker::invalidateStaticObstaclesManager </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00127">127</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#af7a7fd195f0a9f04c5b521e4b5019211">&#9670;&nbsp;</a></span>register_dynamic_obstacle() <span class="overload">[1/2]</span></h2>

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          <td class="memname">int collision::FCLCollisionChecker::register_dynamic_obstacle </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *&#160;</td>
          <td class="paramname"><em>obj</em></td><td>)</td>
          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00176">176</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3f89bea27dfa51cdb4e7b9f14e6cfe09">&#9670;&nbsp;</a></span>register_dynamic_obstacle() <span class="overload">[2/2]</span></h2>

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          <td class="memname">int collision::FCLCollisionChecker::register_dynamic_obstacle </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *&#160;</td>
          <td class="paramname"><em>obj</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00188">188</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a37575984d607b68939dbd784dc4b7a42">&#9670;&nbsp;</a></span>set_up_dynamic_obstacles()</h2>

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          <td class="memname">int collision::FCLCollisionChecker::set_up_dynamic_obstacles </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>simulation_cur_time_idx_</em></td><td>)</td>
          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00141">141</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a701a9bd896c7e87250684b2ee3839496">&#9670;&nbsp;</a></span>setUpParentMap()</h2>

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          <td class="memname">void collision::FCLCollisionChecker::setUpParentMap </td>
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          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00030">30</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aeab84476f1fa2ecaef9b92739096ca5c">&#9670;&nbsp;</a></span>setUpStaticObstaclesManager()</h2>

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          <td class="memname">void collision::FCLCollisionChecker::setUpStaticObstaclesManager </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00132">132</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4a4fd307c8ba0ea3a82d533ed172f11f">&#9670;&nbsp;</a></span>windowQuery_helper()</h2>

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          <td class="memname">void collision::FCLCollisionChecker::windowQuery_helper </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;&#160;</td>
          <td class="paramname"><em>aabb</em>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;&#160;</td>
          <td class="paramname"><em>ret</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8cc_source.html#l00281">281</a> of file <a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aa1181477c1a6c7deb9996db37d4f818b">&#9670;&nbsp;</a></span>m_cc</h2>

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          <td class="memname"><a class="el" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a>&amp; collision::FCLCollisionChecker::m_cc</td>
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<p class="definition">Definition at line <a class="el" href="fcl__collision__checker_8h_source.html#l00048">48</a> of file <a class="el" href="fcl__collision__checker_8h_source.html">fcl_collision_checker.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>C:/git-6/commonroad-collision-checker/cpp/collision/include/collision/solvers/fcl/<a class="el" href="fcl__collision__checker_8h_source.html">fcl_collision_checker.h</a></li>
<li>C:/git-6/commonroad-collision-checker/cpp/collision/src/solvers/fcl/<a class="el" href="fcl__collision__checker_8cc_source.html">fcl_collision_checker.cc</a></li>
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